/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "retarget.h"
#include "FOC.h"
#include "AS5600.h"
#include "pid.h"
#include "lowpass_filter.h"
#include "InlineCurrent.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint16_t value2[2];
float target_velocity = 40.0f;
LowPassFilter lpf,currentLpt;
PID vPid;
PID iPid;
PID pPid;
CurrSense cursensor;
float currentTarget = 0.5f;
float motor_target = 30;
extern float zero_electric_angle;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_I2C1_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
    RetargetInit(&huart1);
//    HAL_ADC_Start_DMA(&hadc1,(uint32_t*)value2,sizeof (value2)/sizeof (value2[0]));
    HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_3);
    setBLDCMotor(htim2,TIM_CHANNEL_1,TIM_CHANNEL_2,TIM_CHANNEL_3);
    setVbus(12.6f);
    CurrSenseInit(&cursensor,&hadc1,0.01f,50,1,NOT_SET,1,1,1,-1);
    alignSensor(7,-1);
    setBLDCFOCMode(SpaceVectorPWM);
    bsp_as5600Init();
    LowPassFilterInit(&lpf,0.01f);
    PIDControllerInit(&pPid,0.2f,0,0,10000,target_velocity);
    PIDControllerInit(&vPid,0.016f,0.8f,0.0f,10000,currentTarget);
    PIDControllerInit(&iPid,5.0f,200,0,10000,voltage_power_supply);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
    while (1) {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//        float angle = getAngle();
//        float value = getVelocity();
//        float velocity = LowPassFilterRun(&lpf,value);
//        float vError = target_velocity - DIR*velocity;
//        PIDController(&vPid,vError);
//        setPhaseVoltage(vPid.output_prev,DIR *_electricalAngle(getAngle_Without_track(),PP));
//位置闭环
        float angle = getAngle();
////        printf("angle:%.2f,%.2f\r\n",angle,motor_target);
        float pError = (motor_target-DIR*angle)*180/M_PI;
        if(pError>-1.7&&pError<1.7)
            pError = 0;
        PIDController(&pPid,pError);
////        setPhaseVoltage(pPid.output_prev,DIR* _electricalAngle(getAngle_Without_track(),PP));
        float value = getVelocity();
        float velocity = LowPassFilterRun(&lpf,value);
        float vError = pPid.output_prev - DIR*velocity;

        PIDController(&vPid,vError);
//        setPhaseVoltage(vPid.output_prev,DIR* _electricalAngle(getAngle_Without_track(),PP));
//        printf("%.2f,%.2f,%.2f,%.2f\r\n",motor_target,DIR*angle,target_velocity,DIR*velocity);
        getPhaseCurrents(&cursensor);
        float currentvalue = getIqId(cursensor);
        float iError = vPid.output_prev - currentvalue;

        PIDController(&iPid,iError);
        setPhaseVoltage(iPid.output_prev,DIR* _electricalAngle(getAngle_Without_track(),PP));
//        printf("%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",motor_target,DIR*angle,target_velocity,DIR*velocity,currentTarget,currentvalue);
        printf("%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",pError,vError,iError,pPid.output_prev,vPid.output_prev,iPid.output_prev);

//        setPhaseVoltage(_constrain(0.133*(motor_target-DIR*angle)*180/M_PI,-6,6),DIR *_electricalAngle(getAngle_Without_track(),PP));
//        getPhaseCurrents(&cursensor);
//        float currentvalue = getIqId(cursensor);
//        float iError = currentTarget - currentvalue;
//        PIDController(&iPid,iError);
//        setPhaseVoltage(iPid.output_prev,DIR *_electricalAngle(getAngle_Without_track(),PP));
//        printf("%.2f,%.2f,%.2f\r\n",cursensor.current_a,cursensor.current_b,cursensor.current_c);
//        printf("%.2f,%.2f\r\n",currentvalue,currentTarget);
    }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1) {
    }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
